WO2006087663A1 - Affichage autostereoscopique - Google Patents

Affichage autostereoscopique Download PDF

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Publication number
WO2006087663A1
WO2006087663A1 PCT/IB2006/050444 IB2006050444W WO2006087663A1 WO 2006087663 A1 WO2006087663 A1 WO 2006087663A1 IB 2006050444 W IB2006050444 W IB 2006050444W WO 2006087663 A1 WO2006087663 A1 WO 2006087663A1
Authority
WO
WIPO (PCT)
Prior art keywords
images
dimensional
plane
dimensional scene
surgical instrument
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2006/050444
Other languages
English (en)
Inventor
Hugo Visser
Ivan Salgo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Priority to US11/816,279 priority Critical patent/US8427527B2/en
Priority to EP06727617A priority patent/EP1854303A1/fr
Priority to JP2007555747A priority patent/JP4860636B2/ja
Publication of WO2006087663A1 publication Critical patent/WO2006087663A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/302—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays
    • H04N13/305—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays using lenticular lenses, e.g. arrangements of cylindrical lenses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/302—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays
    • H04N13/307—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays using fly-eye lenses, e.g. arrangements of circular lenses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/398—Synchronisation thereof; Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • This invention relates generally to an autostereoscopic display system and, more particularly, to an autostereoscopic display system for use in medical imaging during image guided interventions.
  • Autostereoscopic image display systems are known in various forms of implementation, and are aimed at the recreation of the two different perspectives of a three- dimensional view or image as perceived by two human eyes without the need for viewing aids to be worn by the observer.
  • a viewpoint tracker is used to dynamically align the point of recreation with the viewpoint or observer position, as described in, for example International Patent Application No. WO03/013153.
  • the two different perspectives of a three-dimensional view also referred to as a stereoscopic pair of images, allow the brain to assess the distance to various objects in a scene and to provide for three-dimensional view impression.
  • a surgeon would be watching three-dimensional ultrasound data, rendered for at least two views. It is advantageous to align the above-mentioned point of recreation, i.e. the plane where the two (or more) views intersect, with the plane on which the surgeon's eyes are focused. During a medical intervention, this will tend to be the instrument being manipulated.
  • an autostereoscopic display system comprising means for presenting first and second images to a viewer's left and right eyes respectively, said first and second images comprising first and second perspectives of a three-dimensional scene to be displayed, said first and second images intersecting at a point of recreation on a plane of said three dimensional scene, the system further comprising tracking means for determining the three-dimensional position within said three-dimensional scene of a moving object, and means for adjusting said plane on which said first and second images intersect to correspond with said three-dimensional position within said three- dimensional scene of said moving object.
  • the point of recreation of the images presented to the viewer occurs at the plane in the scene which corresponds to the three-dimensional position within the scene of the moving object (e.g. a surgeon's instrument) on which the viewer's eyes will be focused.
  • the moving object e.g. a surgeon's instrument
  • the focus or display plane, on which a surrounding image is displayed is adjusted to correspond with the plane at which the first and second images intersect (i.e. the convergence plane).
  • the tracking means for tracking the position of the moving object may be extracted from three-dimensional ultrasound data by means of, for example, three- dimensional object recognition or by providing one or more ultrasound transducers for generating ultrasound signals at known positions on said object.
  • the three-dimensional scene beneficially comprises ultrasound data.
  • the present invention may be applied to other modalities that can deliver real-time three- dimensional data for use in processes such as surgical interventions. At present, as well as ultrasound, these modalities could include stereo X-ray display systems and MRI.
  • the plane on which the first and second images intersect is beneficially dynamically adjusted to correspond with the tracked position of the moving object within the scene, preferably by adjusting the x-axis separation between the first and second images.
  • the three- dimensional scene may be displayed for use during a guided intravention using a surgical instrument, wherein the three-dimensional position of the surgical instrument within the displayed three-dimensional scene of a part of a subject's anatomy is tracked and the plane at which the first and second images intersect is dynamically adjusted accordingly.
  • the present invention extends to a method of displaying a three-dimensional scene during an intervenous procedure using a surgical instrument, the method comprising presenting first and second images to a viewer's left and right eyes respectively, said first and second images comprising first and second perspectives of a three-dimensional scene to be displayed, said first and second images intersecting at a point of recreation on a plane of said three-dimensional scene, tracking the three-dimensional position within said three- dimensional scene of said surgical instrument, and adjusting said plane on which said first and second images intersect to correspond with said three-dimesnional position within said three-dimensional scene of said surgical instrument.
  • Figure 1 is a schematic perspective view of an autostereoscopic display apparatus
  • Figure 2 is a schematic plan view of a part of the display element array of the display panel of Figure 1, providing a six view output;
  • Figure 3 is a schematic illustration of the principle of an autostereoscopic display system according to an exemplary embodiment of the present invention.
  • Figure 4 is a schematic illustration of an autostereoscopic display system in which the three- dimensional location of the surgical instrument does not correspond with the display plane;
  • Figure 5 illustrates schematically the effect when the convergence plane and focus plane in an autostereoscopic display system do not correspond.
  • the display apparatus includes a conventional liquid crystal display panel 10 used as a spatial light modulator and comprising a planar array of individually addressable and similarly sized display elements 12 arranged in aligned rows and columns perpendicularly to one another.
  • a conventional liquid crystal display panel 10 used as a spatial light modulator and comprising a planar array of individually addressable and similarly sized display elements 12 arranged in aligned rows and columns perpendicularly to one another.
  • Such panels are well known and will not, therefore, be described herein in detail.
  • the display elements 12 are substantially rectangular in shape and are regularly spaced from one another with the display elements in two adjacent columns being separated by a gap extending in column (vertical) direction and with the display elements in two adjacent rows being separated by a gap extending in the row (horizontal) direction.
  • the panel 10 is of the active matrix type in which each display element is associated with a switching element, comprising for example a TFT or thin film diode situated adjacent the display element.
  • the display panel 10 is illuminated by a light source 14 which, in this example, comprises a planar back- light extending over the area of the display element array.
  • a light source 14 which, in this example, comprises a planar back- light extending over the area of the display element array.
  • Light from the source 14 is directed through the panel with the individual display elements being driven, by appropriate application of drive voltages, to constituting the display produced thus corresponds with the display element array, each display element providing a respective display pixel.
  • image deflection means in the form of a lenticular sheet 15 comprising an array of elongate, parallel lenticules 16 or lens elements, acting as optical director means to provide separate images to a viewer's eyes, producing a stereoscopic display to a viewer facing the side of the sheet 15 remote from the panel 10.
  • the lenticules of the sheet 15, which is of conventional form, comprise convex cylindrical lenticules 16, or cylindrical graded refractive index cylindrical lenses. These lenses can also be realised from liquid crystal material, allowing the display to be switched between a conventional 2D mode as well as a 3D mode, as will be known to a person skilled in the art.
  • the pitch of the lenticules 16 is chosen in relation to the pitch of the display elements in the horizontal direction according to the number of views required, as will be described, and each lenticule, apart from those at the sides of the display element array, extends from top to bottom of the display element array.
  • Figure 3 illustrates an exemplary arrangement of the lenticules in combination with the display panel for a typical part of the display panel.
  • the longitudinal axis of the lenticules, L is slanted at an angle a to the column direction, C.
  • the spacing between the longitudinal axes of the parallel lenticules is of such a width with respect to the pitch of the display elements in a row, and slanted at such an angle with respect to the columns of display elements, as to provide a six view system.
  • the display elements 12 are numbered (1 to 6) according to the view-number to which they belong.
  • Display elements of the six views are thus situated in groups comprising display elements from two adjacent rows, with three elements in each row.
  • the individually operable display elements are driven by the application of display information in such a manner that a narrow slice of the 2D image is displayed by selected display elements under a lenticule.
  • the display produced by the panel comprises six interleaved 2D sub- images constituted by the outputs from respective display elements.
  • Each lenticule 16 provides six output beams from the underlying display elements with view- numbers 1 to 6 respectively whose optical axes are in mutually different directions and angularly spread around the longitudinal axis of the lenticule.
  • a 3D image is perceived.
  • a number of stereoscopic images can be viewed in succession.
  • a viewer's two eyes would see respectively, for example, an image composed of all display elements "1" and an image composed of all display elements "2".
  • images comprised of all display elements "2" and all display elements "3” will be seen b y respective eyes, then images comprised of all display elements "3" and all display elements "4", and so on.
  • a surgeon during a medical intervention, such as ultrasound-guided interventions, a surgeon would be watching three-dimensional ultrasound data 102, rendered for at least two views, on an autostereoscopic display panel 101 which provides a depth sensation by providing the viewer's left and right eyes 104a, 104b with different images. It is advantageous to align the above-mentioned point of recreation of those images, i.e. the plane where the two (or more) views intersect, with the plane on which the surgeon's eyes are focused. During a medical intervention, this will tend to be the plane in which the instrument 103 being manipulated is located.
  • the object of the present invention can be achieved by controlling the perceived depth of the of the image presented to the viewer by adjusting the plane where the left and right images L, R intersect to correspond exactly with the position of the instrument 103 being used by the surgeon.
  • the perceived depth of the image is controlled by the amount of x-axis separation of the two images L 5 R. The greater the x-axis separation of the images L, R the more depth there is in the resulting stereoscopic image.
  • the three-dimensional position of the instrument 103 can be extracted from the three- dimensional ultrasound data by means of one or more known techniques, for example, three- dimensional object recognition or by means of providing the instrument or tool 103 with one or more transducers which emit ultrasonic signals at known positions on the tool 103.
  • known techniques for example, three- dimensional object recognition
  • transducers which emit ultrasonic signals at known positions on the tool 103.
  • US Patent No. 6,246,898 there is described a surgical instrument with multiple ultrasound transducers for tracking and imaging the instrument.
  • many different tracking techniques are envisaged to track the three-dimensional position of the instrument 103, and the present invention is not intended to be limited in this regard.
  • the plane of intersection of the stereoscopic image pairs L, R presented to the viewer is adjusted dynamically to correspond exactly therewith by adjusting the x-axis separation between the two images L, R.
  • the convergence plane which corresponds with the plane in which the instrument 103 is located, corresponds with the display plane 101.
  • the convergence plane (where the images L, R intersect) does not correspond with the display plane 101, as illustrated in Figure 4 of the drawings, there are a number of disadvantages.
  • the convergence plane 110 (where the images L, R intersect) does not correspond with the focus plane (which corresponds to display plane 101)
  • the viewer may experience eye strain characterized by headaches.
  • pixels are at their sharpest at the display plane 101, so if the convergence plane 110 (where the viewer's eyes are focused) and the display plane 101 correspond, then image sharpness is optimised.
  • the display plane (101) is preferably moved backward, and vice versa.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

Un affichage autostéréoscopique (101) qui permet une perception de la profondeur en donnant aux yeux gauche et droit (104a, 104b) de l'observateur deux perspectives légèrement différentes d'une image à afficher, est conçu pour les opérations guidées par ultrasons assurées avec un instrument chirurgical (103). Le chirurgien regarde les données ultrasonores affichées (102), rendues pour au moins deux vues. Le plan au niveau duquel ces vues (D, G) se coupent est réglé de manière qu'il corresponde exactement à la position tridimensionnelle suivie dans une scène affichée de l'instrument chirurgical (103), position pouvant être extraite des données ultrasonores tridimensionnelles au moyen, par exemple, de la reconnaissance d'objet en trois dimensions. Ainsi, le point de reconstruction de l'image présentée à l'observateur peut être réglé dynamiquement afin qu'il corresponde à la position de l'instrument chirurgical sur lequel les yeux du chirurgien sont censés se concentrer.
PCT/IB2006/050444 2005-02-17 2006-02-10 Affichage autostereoscopique Ceased WO2006087663A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US11/816,279 US8427527B2 (en) 2005-02-17 2006-02-10 Autostereoscopic display
EP06727617A EP1854303A1 (fr) 2005-02-17 2006-02-10 Affichage autostereoscopique
JP2007555747A JP4860636B2 (ja) 2005-02-17 2006-02-10 自動立体表示

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US65387405P 2005-02-17 2005-02-17
US60/653,874 2005-02-17

Publications (1)

Publication Number Publication Date
WO2006087663A1 true WO2006087663A1 (fr) 2006-08-24

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PCT/IB2006/050444 Ceased WO2006087663A1 (fr) 2005-02-17 2006-02-10 Affichage autostereoscopique

Country Status (4)

Country Link
US (1) US8427527B2 (fr)
EP (1) EP1854303A1 (fr)
JP (1) JP4860636B2 (fr)
WO (1) WO2006087663A1 (fr)

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WO2008026136A1 (fr) * 2006-08-31 2008-03-06 Koninklijke Philips Electronics N.V. Dispositif d'affichage autostéréoscopique
EP2762057A1 (fr) * 2013-02-04 2014-08-06 Canon Kabushiki Kaisha Endoscope stéréoscopique et un procédé de traitement d'image

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TWI584000B (zh) 2016-03-22 2017-05-21 台達電子工業股份有限公司 立體顯示屏幕與使用其的立體顯示裝置
TWI583999B (zh) 2016-03-24 2017-05-21 台達電子工業股份有限公司 立體顯示屏幕與使用其的立體顯示裝置
TWI584633B (zh) 2016-07-12 2017-05-21 台達電子工業股份有限公司 立體顯示裝置
TWI594020B (zh) 2016-07-20 2017-08-01 台達電子工業股份有限公司 立體顯示裝置
TWI614534B (zh) 2016-09-30 2018-02-11 台達電子工業股份有限公司 多視域顯示器
TWI621877B (zh) * 2016-11-04 2018-04-21 台達電子工業股份有限公司 立體顯示裝置
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US12220176B2 (en) 2019-12-10 2025-02-11 Globus Medical, Inc. Extended reality instrument interaction zone for navigated robotic
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US12133772B2 (en) 2019-12-10 2024-11-05 Globus Medical, Inc. Augmented reality headset for navigated robotic surgery
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11607277B2 (en) 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
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Publication number Priority date Publication date Assignee Title
WO2008026136A1 (fr) * 2006-08-31 2008-03-06 Koninklijke Philips Electronics N.V. Dispositif d'affichage autostéréoscopique
EP2762057A1 (fr) * 2013-02-04 2014-08-06 Canon Kabushiki Kaisha Endoscope stéréoscopique et un procédé de traitement d'image

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US8427527B2 (en) 2013-04-23
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US20080218589A1 (en) 2008-09-11
EP1854303A1 (fr) 2007-11-14

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